Switch to a server/client architecture

run.py

@@ -0,0 +1,31 @@
+import argparse
+
+from geometry_msgs.msg import Pose
+import numpy as np
+import rospy
+from std_srvs.srv import Trigger
+
+from policies import get_policy
+
+
+def main(args):
+    rospy.init_node("panda_grasp")
+
+    policy = get_policy(args.policy)
+
+    r = rospy.Rate(args.rate)
+    done = False
+    policy.start()
+    while not done:
+        done = policy.update()
+        r.sleep()
+
+    # TODO execute grasp
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--policy", type=str, choices=["fixed"])
+    parser.add_argument("--rate", type=int, default=10)
+    args = parser.parse_args()
+    main(args)